NDLI: Nonlinear optimal control via finite time horizon state-dependent Riccati equation

Content Provider	IEEE Xplore Digital Library
Author	Korayem, M.H. Nekoo, S.R.
Copyright Year	2014
Description	Author affiliation: Sch. of Mech. Eng., Iran Univ. of Sci. & Technol. (IUST), Tehran, Iran (Korayem, M.H.; Nekoo, S.R.)
Abstract	In this article, the finite time horizon state-dependent Riccati equation (FTSDRE) is used as an extension to the state-dependent Riccati equation (SDRE) for controlling a class of nonlinear systems. The derivations of the SDRE for two classes of systems are presented in the finite time horizon. First class, systems with states and control nonlinearities which results nonlinear differential optimal control equation (NDOCE) and a simplification of the NDOCE which is state-dependent differential Riccati equation like (SDDRE-like). Next, second class, the formulation for nonlinear systems without nonlinearities in control is presented to reach the structure of FTSDRE. On top of that, state transition matrix (STM) approach is presented to solve the problem, as an alternative way to verify the solution to NDOCE and FTSDRE. An illustrative example for the first case, systems with control nonlinearities, and a two-links planar robot for the second case are simulated to support the idea.
Starting Page	878
Ending Page	883
File Size	368811
Page Count	6
File Format	PDF
e-ISBN	9781479967438
DOI	10.1109/ICRoM.2014.6991015
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2014-10-15
Publisher Place	Iran
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Nonlinear SDRE Finite-time Riccati equations Optimal control Mathematical model Nonlinear systems Optimal Control nonlinearities Robots Manipulator
Content Type	Text
Resource Type	Article

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